# Questions tagged [differential-drive]

Differential drive is a commonly used drive system, which consists of two independently controlled wheels.

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### Webots Inverse Kinematics on Differential Drive Robot

I'm learning Webots these days and have gone through their example project on inverse Kinematics.(https://cyberbotics.com/doc/guide/irb4600-40) In their example project they are testing Inverse ...
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### Control a differential drive robot

I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
1 vote
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### Differential Drive Control Techniques

I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots? If I want to compare different ...
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### How to connect cmd_vel to motor_command in ROS

I have a motor driver for a BLDC wheel. I have successfully made the motor driver and ROS connections and when I send motor_command as in the "user manual" of the motor drivers, my wheels ...
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### Center line steering with differential drive

I’ve got 2 motors that drives my unit and I can easily steer it manually by simply adding more speed to one wheel vs the other. Now I’m automating the rover using image processing to follow a driveway....
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1 vote
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### Drive unicycle kinematics equations through the geometry

The unicycle dynamics in discrete-time is given by:  \begin{array}{l} {x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\ {x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
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1 vote
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### How do you model a physical robot (diff drive) in python?

I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected. ...
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### HECTOR SLAM, odometry in a low cost differential drive robot

I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions. Given the inaccuracies in the wheel ...
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### Differential constraints for RRT and PRM

Differential constraints induce a boundary value problem for the connection of two nodes [1]. RRTs are generally said to better deal with this than PRMs. However, why is not entirely clear to me. Is ...
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### How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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1 vote
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### How to choose closest angle when crossing -180 degrees

I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
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### Differential Drive using shopping cart-style casters

I thought I would be clever and use TWO shopping-cart-style casters (more stable) instead of the ONE usual omnidirectional ball caster. Now that I am running it I am almost positive that the ...
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### How to handle motor stall zones in differential drive point-forward go to goal algorithm?

I am implementing the Go To Goal algorithm for a differential drive robot as described here and in this video. The issue I have is that there is a large dead zone in pwm values where the motors are ...
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### How to use SLAM generated map to navigate my robot to the destination?

I am trying to understand various SLAM algorithms. In my case, I need my robot to start from point A and reach point B with maximum accuracy as well as precision for all the cases. Note that, as the ...
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1 vote
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### Differential steering

I'm hoping to build a 40kg rover for running on soft and loose dirt by using fewer than 4 motors. Does anyone know if differential steering is possible on 3 actuated wheels? That is, two at the front ...
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### How to make my robot move parallel to edge of the table?

I have an autonomous differential drive robot that moves on the floor and its purpose is to always move parallel to the longer edge of the table (just assume that the table never ends). It looks ...
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1 vote
120 views

### How do robots move parallel to a wall/line?

I have been studying robotics by myself, lately. I noticed that there are various mapping, localization methods (popularly under SLAM), but are there concepts relating to the robot moving in a ...
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### How to design a robot chassis so as to avoid bending issues?

I'm good on the programming, control systems and electronics aspect of robotics, but need help with a problem with mechanical design. How do I avoid bending of my chassis due to weight? It is a 2 ...
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837 views

### Extended Kalman filtering for IMU and Encoder

I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
877 views

### Motor acceleration and position with PID control

I'm working on a robot with differential drive (2 drive wheels equipped with rotary encoders and 4 free spinning omni wheels for stability) and each wheel is controlled via a separate arduino nano. I ...
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### Advantage of Kalman filter in differential drive planar robot

We need to estimate the position and orientation of differential drive robot by using encoders and imu sensor. For this specific case, is there any advantage of using Kalman filter than taking the ...
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### Going from Spline to Differential Drive Command

I have a differential drive robot that needs to move along a path stored in its memory as a spline. I am currently trying to understand the mathematics of determining how much power to apply to each ...
1 vote
119 views

### Arduino for mobile robot

Is it possible to drive the whole mobile differential drive robot with single arduino? Sonar sensor, servo motor, two encoders, two motors, imu, etc. I mean would it give a reasonable performance or ...
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1 vote
937 views

### How to drive mecanum wheels robot: code or algorithm

I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
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### How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?

I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
1 vote
121 views

### 4 wheeled differential wheeled (skid-steer) robot steering problem

My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
273 views

### Effects of distance between wheels on differential line following robots

I have been working on a line following robot for a line tracing competition. It has 7 IR sensors for line detection and the robot size is limited based on the competition rules. The robot structure ...
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### how to implement autonomous navigation using lidar and hector?

I want to make an autonomous mobile robot, which can localise itself and navigate to the goal in an unknown environment. As sensor, i just have a RPLidar to get laser scan, that's it. I used Hector ...
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### Roomba Create 2: how to convert steering angle to radius?

I want to set the steering angle for Roomba Create 2, and as far as I understand I can do this by setting a turning radius for the Roomba Create 2. My question is: How to convert steering angle to ...
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### Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots

I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics. The implementation I am ...
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### Motor encoders randomly start counting backward, then go back to normal

I am making an Arduino-controlled differential drive robot, and I am having the following problems: the encoders built into the motors are being used for measuring the rotary displacement, and while ...
1 vote
2k views

### Inverse kinematics for differential robot knowing linear and angular velocities

I have a differential robot and I am using ROS to run it. When I need to move the robot, I can send commands to it, specifically linear X and angular Z velocities. Linear X is in m/s whereas angular Z ...
1 vote
277 views

### 4 Wheel Differential Drive Robot with different speeds

Differential drive robot with 4 wheels, If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed ) in general, would that generate more ...
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### ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
1 vote
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### What is difference between 2 wheels and 4 wheels and tracked differential mobile base kinematics?

In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations. but is there really difference between two wheels differential mobile base and tracked/...
2k views

### calculating differential drive robot ICC position

I don't understand how to calculate the ICC position with the given coordinates. I somehow just have to use basic trigonometry but I just can't find a way to calculate the ICC position based on the ...
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### Understanding differential drive

I am a beginner in robotics and I have just come across the concepts of differential and steer drive. I don't understand them very clearly yet. I found the following write up describing differential ...
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### How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath. I've gotten to the point where I have a very small, single purpose ...
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### Forward Kinematics od Differential Robot

r = 1; w1 = 4; w2 = 2; l = 1; R = [0 -1 0; 1 0 0; 0 0 1]; X = [(r*w1)/2 + (r*w2)/2; 0 ; (r*w1)/(2*l) - (r*w2)/(2*l)]; A = R*X; disp(A) I am getting the solution ...
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### Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
1 vote
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### Q Learning And Kohonen Maps For Line Follower Robot

I'm trying to build a line follower robot and I'm interested in predicting the curves on the track. I have 8 binary sensor array(qre1113). My goal is to make a system that it can generalize what it ...
588 views

### Handling of a 4WD robot frame as a 2 wheel differential drive

I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. At the moment I'm thinking of handling it like a 2 wheel differential drive. Left and right wheels would receive the same ...
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### How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
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### Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update ...
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### Standard equation for steering differential drive robot

I am writing a code in Arduino IDE for NodeMCU Board to control a differential drive 2 wheeled robot. I am able to steer only one direction for some reason and the steering response time is a little ...
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### How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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### How to perform odometry on an arduino for a differential wheeled robot?

I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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### Error as a State space

I am reading the following research paper regarding Trajectory tracking of mobile robots. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188 There are two things at the start of the ...
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